def __init__(self, config, device, folder):
self.device = device
self.folder = folder
self.config = config
self.eval_env = NormalizedActions(gym.make(**config["GAME"]))
self.nfig = 1
self.nfig_actor = 1
def __init__(self, device, folder, config):
self.folder = folder
self.config = config
self.device = device
self.memory = ReplayMemory(self.config['MEMORY_CAPACITY'])
self.eval_env = NormalizedActions(gym.make(**self.config['GAME']))
self.continuous = bool(self.eval_env.action_space.shape)
self.state_size = self.eval_env.observation_space.shape[0]
if self.continuous:
self.action_size = self.eval_env.action_space.shape[0]
else:
self.action_size = self.eval_env.action_space.n
self.display_available = 'DISPLAY' in os.environ
class Plotter:
def __init__(self, config, device, folder):
self.device = device
self.folder = folder
self.config = config
self.eval_env = NormalizedActions(gym.make(**config["GAME"]))
self.nfig = 1
self.nfig_actor = 1
def plot_soft_actor_1D(self, soft_actor, pause=False, size=25):
ss = torch.linspace(-1, 1, size).unsqueeze(1).to(self.device)
mu, sigma = soft_actor.get_mu_sig(ss)
mu, sigma = mu.squeeze(), sigma.squeeze()
ss = ss.cpu().numpy()
fig = plt.figure(figsize=(10, 10))
ax = fig.add_subplot(211)
ax.set_title(f"$tanh(\mu)$")
ax.plot(ss, np.tanh(mu))
ax.set_xlabel('State')
ax.set_ylabel('$tanh(\mu)$')
ax.set_ylim(-1.05, 1.05)
ax = fig.add_subplot(212)
ax.set_title(f"$\sigma$")
ax.plot(ss, sigma)
ax.set_xlabel('State')
ax.set_ylabel('$\sigma$')
ax.set_ylim(-0.05, 2.05)
if pause:
plt.show()
else:
plt.savefig(self.folder + f'/Actor{self.nfig_actor:0>3}.jpg')
plt.close()
self.nfig_actor += 1
def plot_actor_1D(self, actor, pause=False, size=25):
ss = torch.linspace(-1, 1, size).unsqueeze(1).to(self.device)
a = actor(ss).detach().cpu().numpy()
ss = ss.cpu().numpy()
fig = plt.figure(figsize=(10, 10))
ax = fig.add_subplot(111)
ax.set_title(f"Action as a function of the state")
ax.plot(ss, a)
ax.set_xlabel('State')
ax.set_ylabel('Action')
ax.set_ylim(-1.05, 1.05)
if pause:
plt.show()
else:
plt.savefig(self.folder + f'/Actor{self.nfig_actor:0>3}.jpg')
plt.close()
self.nfig_actor += 1
def plot_Q_1D(self, Qnet, pause=False, size=25):
if not hasattr(self, 'xx'):
x, y = np.linspace(-1, 1, size), np.linspace(-1, 1, size)
self.xx, self.yy = np.meshgrid(x, y)
self.s = torch.FloatTensor(x).unsqueeze(1).to(self.device)
self.a = torch.FloatTensor(y).unsqueeze(1).to(self.device)
Qsa = np.zeros((size, size))
with torch.no_grad():
for i in range(size):
for j in range(size):
Qsa[j, i] = Qnet(self.s[i],
self.a[j]).detach().cpu().numpy()
self.in_plot = True
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
ax.plot_surface(self.xx, self.yy, Qsa)
ax.set_title('Q*-value in state-action space')
ax.set_xlabel('Position')
ax.set_ylabel('Action')
ax.set_zlabel('Q')
# ax.set_zlim(-0.05, 1.05)
if pause:
plt.show()
else:
plt.savefig(self.folder +
f'/Q{"1" if 1 else "2"}_{self.nfig:0>3}.jpg')
plt.close()
self.in_plot = False
self.nfig += 1
def plot_soft_Q_2D(self, Qnet, soft_actor, pause=False, size=25):
state = self.eval_env.reset()
states = [state]
done = False
steps = 0
while not done and steps < self.config['MAX_STEPS']:
state, r, done, _ = self.eval_env.step(
soft_actor.select_action(state))
states.append(state)
if pause:
self.eval_env.render()
steps += 1
self.eval_env.close()
if not hasattr(self, 'xx'):
x, y = np.linspace(-1, 1, size), np.linspace(-1, 1, size)
self.xx, self.yy = np.meshgrid(x, y)
self.s = torch.FloatTensor(list(itertools.product(x, y))).to(
self.device)
with torch.no_grad():
a, _ = soft_actor(self.s)
Qsa = Qnet(self.s, a)
Qsa = Qsa.cpu().numpy().reshape(size, size, order='F')
a = a.cpu().numpy().reshape(size, size, self.action_size, order='F')
states = np.array(states)
with torch.no_grad():
s = torch.FloatTensor(states).to(self.device)
aa, _ = soft_actor(s)
Qsa_states = Qnet(s, aa)
Qsa_states = Qsa_states.cpu().numpy().squeeze()
self.in_plot = True
fig = plt.figure()
ax = fig.add_subplot(111, projection='3d')
# ax.plot_surface(self.xx, self.yy, Qsa)
ax.quiver(self.xx,
self.yy,
Qsa,
a[:, :, 0],
a[:, :, 1],
0,
length=0.05,
normalize=True,
arrow_length_ratio=0.35)
ax.plot(states[:, 0], states[:, 1], Qsa_states, c='red')
ax.set_xlabel('X')
ax.set_ylabel('Y')
ax.set_zlabel('Q(s, $\pi$(s)')
# ax.set_zlim(0, 1)
if pause:
plt.show()
else:
plt.savefig(self.folder + f'/Q{self.nfig:0>3}.jpg')
plt.close()
self.in_plot = False
self.nfig += 1
class AbstractAgent(ABC):
def __init__(self, device, folder, config):
self.folder = folder
self.config = config
self.device = device
self.memory = ReplayMemory(self.config['MEMORY_CAPACITY'])
self.eval_env = NormalizedActions(gym.make(**self.config['GAME']))
self.continuous = bool(self.eval_env.action_space.shape)
self.state_size = self.eval_env.observation_space.shape[0]
if self.continuous:
self.action_size = self.eval_env.action_space.shape[0]
else:
self.action_size = self.eval_env.action_space.n
self.display_available = 'DISPLAY' in os.environ
@abstractmethod
def select_action(self, state, episode=None, evaluation=False):
pass
def get_batch(self):
transitions = self.memory.sample(self.config['BATCH_SIZE'])
batch = list(zip(*transitions))
# Divide memory into different tensors
states = torch.FloatTensor(batch[0]).to(self.device)
if self.continuous:
actions = torch.FloatTensor(batch[1]).to(self.device)
else:
actions = torch.LongTensor(batch[1]).to(self.device)
rewards = torch.FloatTensor(batch[2]).unsqueeze(1).to(self.device)
next_states = torch.FloatTensor(batch[3]).to(self.device)
done = torch.FloatTensor(batch[4]).unsqueeze(1).to(self.device)
return states, actions, rewards, next_states, done
@abstractmethod
def optimize(self):
pass
def evaluate(self, n_ep=10, render=False, gif=False):
rewards = []
if gif:
writer = imageio.get_writer(self.folder + '/results.gif', duration=0.005)
render = render and self.display_available
try:
for i in range(n_ep):
state = self.eval_env.reset()
reward = 0
done = False
steps = 0
while not done and steps < self.config['MAX_STEPS']:
action = self.select_action(state, evaluation=True)
state, r, done, _ = self.eval_env.step(action)
if render:
self.eval_env.render()
if i == 0 and gif:
writer.append_data(self.eval_env.render(mode='rgb_array'))
reward += r
steps += 1
rewards.append(reward)
except KeyboardInterrupt:
if not render:
raise
finally:
self.eval_env.close()
if gif:
print(f"Saved gif in {self.folder+'/results.gif'}")
writer.close()
score = sum(rewards)/len(rewards) if rewards else 0
return score
@abstractmethod
def save(self):
pass
@abstractmethod
def load(self, folder=None):
pass
def train(Agent, args):
config = load_config(f'agents/{args.agent}/config.yaml')
game = config['GAME']['id'].split('-')[0]
folder = create_folder(args.agent, game, config)
if args.load:
config = load_config(f'{folder}/config.yaml')
if args.gpu and torch.cuda.is_available():
device = torch.device('cuda')
else:
device = torch.device('cpu')
print(f"\033[91m\033[1mDevice : {device}\nFolder : {folder}\033[0m")
# Create gym environment and agent
env = NormalizedActions(gym.make(**config["GAME"]))
model = Agent(device, folder, config)
# Load model from a previous run
if args.load:
model.load(args.load)
# Signal to render evaluation during training by pressing CTRL+Z
def handler(sig, frame):
model.evaluate(n_ep=1, render=True)
# model.plot_Q(pause=True)
signal.signal(signal.SIGTSTP, handler)
nb_total_steps = 0
nb_episodes = 0
print("Starting training...")
rewards = []
eval_rewards = []
lenghts = []
time_beginning = time.time()
try:
for episode in trange(config["MAX_EPISODES"]):
done = False
step = 0
episode_reward = 0
state = env.reset()
while not done and step < config["MAX_STEPS"]:
action = model.select_action(state, episode=episode)
next_state, reward, done, _ = env.step(action)
episode_reward += reward
# Save transition into memory
model.memory.push(state, action, reward, next_state, done)
state = next_state
losses = model.optimize()
step += 1
nb_total_steps += 1
rewards.append(episode_reward)
lenghts.append(step)
if episode % config["FREQ_SAVE"] == 0:
model.save()
if episode % config["FREQ_EVAL"] == 0:
eval_rewards.append(model.evaluate())
plt.cla()
plt.title(folder.rsplit('/', 1)[1])
absc = range(0, len(eval_rewards * config["FREQ_EVAL"]),
config["FREQ_EVAL"])
plt.plot(absc, eval_rewards)
plt.savefig(f'{folder}/eval_rewards.png')
if episode % config["FREQ_PLOT"] == 0:
plt.cla()
plt.title(folder.rsplit('/', 1)[1])
plt.plot(rewards)
plt.savefig(f'{folder}/rewards.png')
plt.cla()
plt.title(folder.rsplit('/', 1)[1])
plt.plot(lenghts)
plt.savefig(f'{folder}/lenghts.png')
plt.close()
nb_episodes += 1
except KeyboardInterrupt:
pass
finally:
env.close()
model.save()
time_execution = time.time() - time_beginning
print(
'---------------------------------------------------\n'
'---------------------STATS-------------------------\n'
'---------------------------------------------------\n',
nb_total_steps, ' steps and updates of the network done\n',
nb_episodes, ' episodes done\n'
'Execution time : ', round(time_execution, 2), ' seconds\n'
'---------------------------------------------------\n'
'Average nb of steps per second : ',
round(nb_total_steps / time_execution, 3), 'steps/s\n'
'Average duration of one episode : ',
round(time_execution / max(1, nb_episodes), 3), 's\n'
'---------------------------------------------------')